Related papers: The Geometry and Kinematics of the Matrix Lie Grou…
We propose a general framework to contract unitary dual of Lie groups via holomorphic quantization of their co-adjoint orbits. The sufficient condition for the contractability of a representation is expressed via cocycles on coadjoint…
This work concerns the definition and analysis of a new class of Lie systems on Poisson manifolds enjoying rich geometric features: the Lie--Hamilton systems. We devise methods to study their superposition rules, time independent constants…
This is an expository article. We survey some fundamental trends in representation theory of symmetric groups and related objects which became apparent in the last fifteen years. The emphasis is on connections with Lie theory via…
After three decades of computational multibody system (MBS) dynamics, current research is centered at the development of compact and user friendly yet computationally efficient formulations for the analysis of complex MBS. The key to this…
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to…
The current form of quantum mechanics is very successful and is almost certainly correct. It is remarkable, however, that the entire structure-from the mass, spin and charge labels on particlelike states to antisymmetry to broken internal…
We derive symmetry preserving invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have an advantage over conventional extended Kalman filters as the error dynamics for such filters are independent of the…
These lecture notes in Lie Groups are designed for a 1--semester third year or graduate course in mathematics, physics, engineering, chemistry or biology. This landmark theory of the 20th Century mathematics and physics gives a rigorous…
Matrix Lie groups provide a language for describing motion in such fields as robotics, computer vision, and graphics. When using these tools, we are often faced with turning infinite-series expressions into more compact finite series (e.g.,…
Stochastic and bistochastic matrices providing positive maps for spin states (for qudits) are shown to form semigroups with dense intersection with the Lie groups $IGL(n, \mathbb{R})$ and $GL(n, \mathbb{R})$ respectively. The density matrix…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
In this work, we show how to parameterize a density matrix that has an arbitrary symmetry, knowing the generators of the Lie algebra (if the symmetry group is a connected Lie group) or the generators of its underlying group (in case it is…
We present the derivation of the 6-dimensional Eulerian Lie group of the form SO(3,C). We describe our derivation process, which involves the creation of a finite group by using permutation matrices, and the exponentiation of the adjoint…
We present a modern formulation of \'Elie Cartan's structure theory for Lie pseudogroups and prove a reduction theorem that clarifies the role of Cartan's systatic system. The paper is divided into three parts. In part one, using notions…
We consider the Galilean group of transformations that preserve spatial distances and absolute time intervals between events in spacetime. The special Galilean group, SGal(3), is a 10-dimensional Lie group; we examine the structure of the…
There exist numerous ways of representing 3D orientations. Each representation has both limitations and unique features. Choosing the best representation for one task is often a difficult chore, and there exist conflicting opinions on which…
Modern matrix completion problems often involve heterogeneous data whose rows simultaneously belong to many meta-categories, such as demographic and age groups in recommendation systems, or region and recording session labels in neural…
We explicitly construct a particular real form of the Lie algebra $\mathfrak{e}_7$ in terms of symplectic matrices over the octonions, thus justifying the identifications $\mathfrak{e}_7\cong\mathfrak{sp}(6,\mathbb{O})$ and, at the group…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
We consider the problem of the explicit description of the gauge-invariant subspace of pure lattice gauge theories in the Hamiltonian formulation, where the gauge group is either a compact Lie group or a finite group. The latter case is…